The paper introduces a mechanically inspired nonholonomic integrator for numerical simulation of the dynamics of a constrained geometrically exact beam that is a field-theoretic analogue of the Chaplygin sleigh. The integrator features an exact constraint preservation, an excellent numerical energy conservation throughout a large number of iterations, while avoiding the use of unnecessary Lagrange multipliers. Simulations of the dynamics of the constrained beam reveal typical for nonholonomic system’s behavior, such as motion reversals and locomotion generation.

中文翻译：

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Chaplygin–Timoshenko Sleigh的变分积分器

本文介绍了一种受机械启发的非完整积分器，用于对几何约束精确束的动力学进行数值模拟，该束是Chaplygin雪橇的场论模拟。该积分器具有精确的约束保留，在大量迭代中均具有出色的数值能量守恒性，同时避免了使用不必要的拉格朗日乘数。约束梁动力学的仿真揭示了非完整系统行为的典型特征，例如运动反转和运动产生。